CN103240285B - A kind ofly realize the method that hot-strip manipulator clamps centering automatically - Google Patents
A kind ofly realize the method that hot-strip manipulator clamps centering automatically Download PDFInfo
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- CN103240285B CN103240285B CN201310182325.1A CN201310182325A CN103240285B CN 103240285 B CN103240285 B CN 103240285B CN 201310182325 A CN201310182325 A CN 201310182325A CN 103240285 B CN103240285 B CN 103240285B
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Abstract
The invention discloses a kind of method realizing hot-strip roughing manipulator automatic centering clamping, wherein, arrange manipulator automatic centering holding function module for hot-strip roughing manipulator and manipulator opens module automatically, described method comprises: automatically open in module the manipulator opening value presetting hot-strip roughing mills at manipulator; Start manipulator automatic centering holding function module, make manipulator reduce the speed of service after contact zones steel and clamping band steel predetermined time section, thus realize the automatic centering clamping to band steel.Then, manipulator can be started and automatically open module, make manipulator after completing the centering holding function to band steel, make manipulator aperture return to the manipulator opening value of predetermined set.According to method of the present invention, not only save equipment investment, and achieve the centering rectification object of manipulator to band steel, thus for ensureing strip profile and flatness, improving and be with steel lateral bending and plate shape to create advantage.
Description
Technical field
The present invention relates to mill milling technical field, specifically, the present invention relates to a kind of method realizing hot-strip manipulator automatic centering clamping.
Background technology
For hot-strip, when roughing, the set model of manipulator aperture is the automatic setting value of model, mainly comprises strip width+absolute spread+control surplus.Traditional roughing manipulator system does not have pressure sensor to configure, and the size of force value thus cannot be utilized to judge the clamp position of manipulator to band steel; But, under the prerequisite not increasing pressure sensor configuration, the clamping alignment function of manipulator to band steel cannot be realized.Therefore, at present when hot-strip roughing, often there will be the deviation phenomenon of band steel.
Summary of the invention
In order to solve the problems of the technologies described above, the present invention, under the prerequisite not increasing pressure sensor configuration, provides a kind of method realizing hot-strip roughing manipulator automatic centering clamping.Technical characterstic of the present invention runs by setting program module and by the operation of program module to realize the automatic centering holding function of hot-strip roughing manipulator to band steel.
According to an aspect of the present invention, provide a kind of method realizing hot-strip roughing manipulator automatic centering clamping, described method comprises: step one, presets the manipulator opening value of hot-strip roughing mills; Step 2, manipulator cuts out with normal running speed; Step 3, manipulator reduces the speed of service after touching band steel; Step 4, makes manipulator maintenance to the clamp position predetermined time section of band steel, thus completes the centering clamping to band steel.
According to one embodiment of present invention, the described method realizing hot-strip roughing manipulator automatic centering clamping also comprises: complete the centering clamping to band steel in step 4 after, manipulator opens to the manipulator opening value preset with normal running speed, thus the roughing mills of hot-strip is rolled band steel.
According to one embodiment of present invention, the described method realizing hot-strip roughing manipulator automatic centering clamping also comprises: after the rolling that the roughing mills of hot-strip completes current band steel, manipulator cuts out with normal running speed and repeats step 3 to step 4.
According to one embodiment of present invention, manipulator opening value can be width dimensions and the trimmed size setting according to being with steel.
According to one embodiment of present invention, the opening and closing of manipulator can be by being arranged on hydraulic cylinder on manipulator and pinion and rack has come.
According to a further aspect in the invention, provide a kind of method realizing hot-strip roughing manipulator automatic centering clamping, wherein, arrange manipulator automatic centering holding function module for hot-strip roughing manipulator and manipulator opens module automatically, described method comprises the steps: automatically to open in module at manipulator the manipulator opening value presetting hot-strip roughing mills; Start manipulator automatic centering holding function module, make manipulator reduce the speed of service after contact zones steel and clamping band steel predetermined time section, thus realize the automatic centering clamping to band steel.
According to another embodiment of the present invention, the described method realizing hot-strip roughing manipulator automatic centering clamping also comprises: start manipulator and automatically open module, make manipulator after completing the centering holding function to band steel, make manipulator aperture return to the manipulator opening value of predetermined set, thus the roughing mills of hot-strip is rolled band steel.
According to another embodiment of the present invention, manipulator opening value can be width dimensions and the trimmed size setting according to being with steel.
According to another embodiment of the present invention, opening of manipulator can be by being arranged on hydraulic cylinder on manipulator and pinion and rack has come.
According to the present invention, on the basis keeping the original hardware configuration of roughing manipulator system, without the need to pressure sensor, the automatic centering holding function of manipulator to band steel is realized by arranging manipulator automatic centering holding function module, namely equipment investment is saved, achieve again the centering rectification object of manipulator to band steel, thus for ensureing strip profile and flatness, improving and be with steel lateral bending and plate shape to create advantage.
Accompanying drawing explanation
Fig. 1 shows and realizes according to of the present invention the FB(flow block) that hot-strip manipulator clamps the method for centering automatically.
The schematic diagram that the roughing manipulator that Fig. 2 shows hot-strip is arranged.
Fig. 3 show according to comparative example of the present invention utilize the layout shown in Fig. 2 to carry out roughing rolling time technological parameter.
Fig. 4 shows technological parameter when utilizing the layout shown in Fig. 2 to carry out roughing rolling according to an embodiment of the invention.
Detailed description of the invention
Below in conjunction with operation principle of the present invention, accompanying drawing and embodiment, the present invention is described in more detail, makes technical characterstic of the present invention clearly, but the invention is not restricted to these descriptions.
Fig. 1 shows and realizes according to of the present invention the flow chart that hot-strip manipulator clamps the method for centering automatically.The schematic diagram that the roughing manipulator that Fig. 2 shows hot-strip is arranged.
First with reference to Fig. 2, usually, for hot-strip, before and after roughing mill, manipulator 1 and 4 is furnished with respectively, the roughing mills be made up of a frame E1 vertical miller 2 and a frame R1 flat roll mill 3 shown in figure 2; But the present invention is not limited thereto, those skilled in the art can want the band steel of rolling to adopt suitable roughing mills to realize roughing rolling to hot-strip according to reality.Because the roughing supplied materials of hot-strip is thicker, so be necessary to arrange that before and after roughing mills manipulator is to realize the automatic centering holding function to band steel respectively, to avoid sideslip and to realize the accurate rolling to band steel.
As shown in Figure 2, in the rough rolling process of hot-strip, when being with steel to be rolled through roughing mills, before needing to utilize machine, manipulator 1 is to the clamping of band steel, realizes the centering rectification effect of manipulator to band steel, thus ensures the effect of rolling to band steel.Equally, by manipulator 3 after arrange machine after roughing mills, the band steel through roughing rolling is clamped, realize the centering rectification effect of manipulator to band steel, thus ensure that band steel successfully enters next process (such as, the roughing of lower a time or finish rolling).
In traditional hot-strip technology, the aperture of the manipulator 1 and 4 before and after roughing mill is the automatic setting value of model, the automatic setting value of this model is strip width, absolute spread and control surplus sum, thus makes manipulator open predetermined opening degree according to the automatic setting value of this model and make band steel pass in and out milling train 2 and 3 under the restriction of manipulator guides.
The invention provides a kind of novel method that can set manipulator aperture before and after hot-strip roughing mill to realize the automatic centering holding function of hot-strip roughing manipulator to band steel.
For brevity, in the following description manipulator after manipulator before machine and machine is referred to as manipulator, therefore, description below by be applicable to hot-strip roughing mill machine before manipulator after manipulator and machine.
Explain in detail below with reference to Fig. 1 and realize according to of the present invention the method that hot-strip manipulator clamps centering automatically.
With reference to Fig. 1, the method realizing hot-strip roughing manipulator automatic centering clamping according to the present invention comprises the following steps: first, preset the manipulator opening value (S1) of hot-strip roughing mills; Before band steel contact manipulator (that is, after completing the roughing of last band steel), manipulator receives (also known as " cut out ") (S2) automatically inward with normal running speed (such as, 0.2m/s); Manipulator speed of service after contact zones steel reduces (such as, be down to and be no more than 0.05m/s) (S3); Manipulator keeps the clamp position predetermined time section (such as, 200-300ms) to band steel, thus completes centering clamping (S4) to band steel; After roughing manipulator completes the automatic centering holding function to band steel, automatically open module by roughing manipulator and make roughing manipulator open to the opening value (S5) of predetermined set with normal running speed (such as, 0.4m/s).
According to method of the present invention, when carrying out roughing to hot-strip, realize clamping the automatic centering of roughing manipulator by the step S2-S4 shown in Fig. 1, thus realize the rolling to band steel.After current band steel leaves roughing mills and machine after manipulator, namely manipulator receives the arriving waiting for next band steel inward with the normal speed of service, thus repeats the step S2-S5 shown in Fig. 1, to complete the roughing rolling to next band steel.
According to the present invention, presetting before the machine of roughing mills manipulator aperture separately after manipulator and machine according to the band width dimensions of steel and trimmed size, completing the opening and closing of manipulator aperture by being arranged on hydraulic cylinder on manipulator and pinion and rack.
In addition, automatically clamping alignment function to realize hot-strip manipulator, according to another embodiment of the present invention, can realize by arranging the program module that controls it to manipulator and being run by the operation of program module.Specifically, according to the present invention, the program module that hot-strip roughing manipulator is arranged is comprised: manipulator automatic centering holding function module, namely the feature that after utilizing manipulator clamping band steel, the speed of service slows down, by judging manipulator speed of service size and suitable time-delay, realize the automatic centering holding function of manipulator to band steel, wherein, manipulator automatic centering holding function has been operated by the dialog box be arranged on the monitored picture in operation room; Manipulator opens module automatically, after roughing manipulator completes automatic centering holding function, roughing manipulator aperture is made to return to model specification value, wherein, the opening of roughing manipulator, close by being arranged on hydraulic cylinder on manipulator and pinion and rack has come, the aperture of roughing manipulator sets according to the width dimensions of band steel, trimmed size.
Specifically, according to another embodiment of the present invention, be provided with manipulator automatic centering holding function module for hot-strip roughing manipulator and manipulator opens module automatically, the method realizing hot-strip roughing manipulator automatic centering clamping comprises the steps: automatically to open in module at manipulator the manipulator opening value presetting hot-strip roughing mills; Start manipulator automatic centering holding function module, make manipulator reduce the speed of service after contact zones steel and clamping band steel predetermined time section, thus realize the automatic centering clamping to band steel.
According to present example of the present invention, the method realizing hot-strip roughing manipulator automatic centering clamping can also comprise: start manipulator and automatically open module, make manipulator after completing the centering holding function to band steel, make manipulator aperture return to the manipulator opening value of predetermined set, thus the roughing mills of hot-strip is rolled band steel.
Here, under the teachings of the present invention, those skilled in the art can select suitable manipulator encoder to realize manipulator automatic centering holding function module and manipulator opens module automatically according to actual needs.Preferably, the present invention selects manipulator encoder ASM58N-F2AK1RHBN-1213.
Therefore, according to the present invention, on the basis keeping the original hardware configuration of roughing manipulator system, without the need to pressure sensor, the automatic centering holding function of manipulator to band steel is realized by arranging manipulator automatic centering holding function module, namely save equipment investment, achieve again the centering rectification object of manipulator to band steel, thus for ensureing strip profile and flatness, improving and be with steel lateral bending and plate shape to create advantage.
Come below in conjunction with specific embodiments to describe in further detail and realize according to of the present invention the method that hot-strip manipulator clamps alignment function automatically.
According to an example of the present invention embodiment, on the basis of existing roughing manipulator system hardware configuration, employing manipulator encoder ASM58N-F2AK1RHBN-1213 arranges manipulator centering holding function module and manipulator opens module automatically, and by being arranged on dialog box on monitored picture and button, by manually operating, realize the automatic centering holding function of manipulator to band steel according to above-described method; After clamping also time delay, manipulator aperture returns to model specification value.Like this, by the clamping of manipulator to band steel, realize the centering rectification effect of manipulator to band steel.Here, the major function of " manipulator centering holding function module " realizes the clamping of manipulator to band steel, then automatically opens to model specification value, and " manipulator opens module automatically " is mainly used to the opening degree setting value calculating manipulator.
In instant example embodiment, the normal closing velocity of manipulator is 0.2m/s, and normal opening speed is 0.4m/s, and what judge manipulator clamping band steel in program module is reduced to below 0.05m/s according to as the manipulator speed of service.For ensureing clamping centering effect, increase time delay 250ms, manipulator opens to model specification aperture afterwards.Can automatically open the operation of module or holding function according to manipulator of the present invention to the band centering self-clamping module of steel and manipulator or according to the program module structured flowchart based on Fig. 1 of the present invention, work out various distinct program to realize its function.Manipulator aperture model specification value sets according to the width difference of rolled band steel product.
comparative example 1
Comparative example 1 is the course of work not starting " manipulator centering holding function input " function.
Fig. 3 show according to comparative example 1 utilize the layout shown in Fig. 2 to carry out roughing rolling time technological parameter.Five passage manipulator setting apertures of roughing are represented, the actual aperture of current expression current pass manipulator with reference to manipulator opening degree before the machine of dialog box form 1, the 1-5 passage shown in Fig. 3.
In this comparative example, band steel supplied materials width is 1030mm, and the intermediate blank specification of roughing is 28.5 × 1040mm.
When the current pass of this comparative example is the 1st passage, do not start following " manipulator alignment function input " button.Before roughing mill, manipulator setting aperture is 1105.3mm, and actual aperture is 1105.7mm.Now, band steel runs in manipulator before machine, not through the clamping of manipulator centering, directly enters roughing mill E1, the R1 shown in Fig. 2 and is rolled.
In comparative example 1, owing to lacking the clamping centering of manipulator, easily tilt when band steel runs in manipulator, occur that band steel is not along rolling centerline rolling, cause band steel lateral bending, the problems such as wedge shape is excessive, plate shape is poor occur.
embodiment 1
Embodiment 1 is course of work when starting " manipulator centering holding function input " function.
Fig. 4 show according to embodiment 1 utilize the layout shown in Fig. 2 to carry out roughing rolling time technological parameter.Five passage manipulator setting apertures of roughing are represented, the actual aperture of current expression current pass manipulator with reference to manipulator opening degree before the machine of dialog box form 2, the 1-5 passage shown in Fig. 4.
In this embodiment, band steel supplied materials width is 1030mm, and the intermediate blank specification of roughing is 28.5 × 1040mm.
When the current pass of the present embodiment is the 1st passage, start following " manipulator alignment function input " button.Before roughing mill, manipulator setting aperture is 1105.3mm, and when band steel arrives manipulator position, manipulator cuts out automatically, current aperture reaches minimum, is 1044.3mm, after time delay 250ms, manipulator is automatically opened and is returned to setting aperture 1105.3mm, and band steel continues to run, and enters roughing mill E1, R1 and is rolled.
Here, it is pointed out that not often propping up the steel capital will click in " manipulator centering holding function input " above-mentioned dialog box, no longer remove if click, this function drops into always, and manipulator is opened, closing motion completes automatically by program.Again click, then this function is cancelled.Meanwhile, because the change of the rolling conditions such as steel temperature, even if steel grade, specification are constant, the model specification value of often propping up steel all has small size change.
Be proven, after hot-strip adopts according to method of the present invention, hauled oneself willingly into since using, stable smooth operation, safe and reliable, achieve roughing manipulator automatic centering holding function, serve the centering rectification effect of manipulator to band steel.
Therefore, the present invention is on the basis keeping the original hardware configuration of roughing manipulator system, without the need to pressure sensor, the automatic centering holding function of manipulator to band steel is realized by arranging manipulator automatic centering holding function module, namely equipment investment is saved, achieve again the centering rectification object of manipulator to band steel, thus for ensureing strip profile and flatness, improving and be with steel lateral bending and plate shape to create advantage.
The present invention only schematically illustrates the centering holding function being applicable to manipulator first passage before roughing mill, to manipulator after roughing mill and other each passage applicable equally.In the scope not departing from design philosophy of the present invention, can carry out various changes and modifications, these changes all belong to protection scope of the present invention.
Claims (9)
1. realize a method for hot-strip roughing manipulator automatic centering clamping, it is characterized in that described method comprises the steps:
Step one, presets the manipulator opening value of hot-strip roughing mills;
Step 2, manipulator cuts out with normal running speed;
Step 3, after manipulator touches band steel, the feature that after utilizing manipulator clamping band steel, the speed of service slows down makes the speed of service of manipulator reduce, until the speed of service of manipulator is reduced to 0.05m/s;
Step 4, makes manipulator maintenance to the clamp position 200-300ms of band steel, thus on the basis keeping the original hardware configuration of roughing manipulator system, has carried out the centering clamping to band steel without the need to pressure sensor.
2. the method realizing hot-strip roughing manipulator automatic centering clamping according to claim 1, it is characterized in that, described method also comprises: complete the centering clamping to band steel in step 4 after, manipulator opens to the manipulator opening value preset with normal running speed, thus hot-strip roughing mills is rolled band steel.
3. the method realizing hot-strip roughing manipulator automatic centering clamping according to claim 2, it is characterized in that, described method also comprises: after the rolling that hot-strip roughing mills completes current band steel, manipulator cuts out with normal running speed and repeats step 3 to step 4.
4. the method realizing hot-strip roughing manipulator automatic centering clamping according to claim 1, is characterized in that, manipulator opening value sets according to the width dimensions and trimmed size of being with steel.
5. the method realizing hot-strip roughing manipulator automatic centering clamping according to claim 1, is characterized in that, the opening and closing of manipulator are by being arranged on hydraulic cylinder on manipulator and pinion and rack has come.
6. realize a method for hot-strip roughing manipulator automatic centering clamping, it is characterized in that arranging manipulator automatic centering holding function module for hot-strip roughing manipulator and manipulator opens module automatically, described method comprises the steps:
Automatically the manipulator opening value presetting hot-strip roughing mills is opened in module at manipulator;
Start manipulator automatic centering holding function module, make manipulator after contact zones steel, the feature that after utilizing manipulator clamping band steel, the speed of service slows down makes the speed of service of manipulator reduce, until the speed of service of manipulator is reduced to 0.05m/s, then keep manipulator to band steel predetermined time section clamp position, thus on the basis keeping the original hardware configuration of roughing manipulator system, without the need to pressure sensor, realize clamping the automatic centering of band steel by arranging manipulator automatic centering holding function module.
7. the method realizing hot-strip roughing manipulator automatic centering clamping according to claim 6, it is characterized in that, described method also comprises: start manipulator and automatically open module, make manipulator after completing the centering holding function to band steel, manipulator opening value manipulator aperture being returned to preset, thus hot-strip roughing mills is rolled band steel.
8. the method realizing hot-strip roughing manipulator automatic centering clamping according to claim 6, is characterized in that, manipulator opening value sets according to the width dimensions and trimmed size of being with steel.
9. the method realizing hot-strip roughing manipulator automatic centering clamping according to claim 6, is characterized in that, opening of manipulator is by being arranged on hydraulic cylinder on manipulator and pinion and rack has come.
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| CN103894426B (en) * | 2014-03-26 | 2015-08-12 | 济钢集团有限公司 | A kind of manipulator of rolling mill of rapid adjustment centering and method of adjustment thereof |
| CN107608304A (en) * | 2017-09-18 | 2018-01-19 | 北京首钢自动化信息技术有限公司 | A kind of automobile slab overturning machine claming controller and its method |
| CN109663819A (en) * | 2018-11-19 | 2019-04-23 | 包头钢铁（集团）有限责任公司 | A method of reducing thick steel plates length direction abnormity amount end to end |
| CN109622633B (en) * | 2018-12-20 | 2023-10-24 | 柳州钢铁股份有限公司 | Hot continuous rolling rough rolling and finish rolling centering matching control method |
| DE102020206297A1 (en) * | 2019-09-19 | 2021-03-25 | Sms Group Gmbh | Interstand guidance on a vertical roll stand of a rolling train as well as a method for guiding the rolling stock using the interstand guidance |
| CN113732079B (en) * | 2021-07-27 | 2023-10-27 | 石钢京诚装备技术有限公司 | Calibrating method for pushing bed of cogging mill |
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Effective date of registration: 20220623 Address after: 271104 Shuangquan Road, Gangcheng District, Jinan City, Shandong Province Patentee after: LAIGANG GROUP YINSHAN SHAPED STEEL Co.,Ltd. Address before: 271104 No.99, Fuqian street, Gangcheng District, Laiwu City, Shandong Province Patentee before: LAIWU STEEL Group Ltd. |